2016/10/05 by Sara Spedicato, Antonio Franchi, Spedicato, Sara +3
Engineering · Computer Science · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #Guidance and Control Systems
paper · pdf · doi:10.48550/arxiv.1610.01496
In this paper we present a maneuver regulation scheme for Vertical Take-Off\nand Landing (VTOL) micro aerial vehicles (MAV). Differently from standard\ntrajectory tracking, maneuver regulation has an intrinsic robustness due to the\nfact that the vehicle is not required to chase a virtual target, but just to\nstay on a (properly designed) desired path with a given velocity profile. In\nthis paper we show how a robust maneuver regulation controller can be easily\ndesigned by converting an existing tracking scheme. The resulting maneuvering\ncontroller has three main appealing features, namely it: (i) inherits the\nrobustness properties of the tracking controller, (ii) gains the appealing\nfeatures of maneuver regulation, and (iii) does not need any additional tuning\nwith respect to the tracking controller. We prove the correctness of the\nproposed scheme and show its effectiveness in experiments on a nano-quadrotor.\nIn particular, we show on a nontrivial maneuver how external disturbances\nacting on the quadrotor cause instabilities in the standard tracking, while\nmarginally affect the maneuver regulation scheme.\n